Battery replacing method adaptive to different vehicle types and battery replacing station control system

Abstract

The invention discloses a battery replacing method and a battery replacing station control system adaptive to different vehicle types, and the method comprises the following steps: obtaining a group of sample images of various vehicle types, and extracting a sample region graph of each sample image; drawing a circle with the maximum diameter in the sample area graph, determining the circle center of the circle, determining an intersection point formed by intersection of diagonal lines of the two centering assemblies, and obtaining a position relationship between the intersection point and the circle center; constructing a TensorFlow framework, taking the sample image as a training set, extracting a circle center in the training set as a feature vector, and training to obtain a recognition model; when a vehicle enters the battery swap station, the recognition model is used for carrying out image collection on the vehicle, extracting an area graph in the collected image and determining the circle center, and the driving assembly and the servo assembly drive the centering assemblies to move in the opposite direction or the opposite direction till the intersection point formed by intersection of the diagonal lines of the two centering assemblies and the circle center reach the preset position relation. The vehicle positioning device is mainly embodied in that the design is exquisite, and accurate positioning of vehicle positions of different vehicle types is achieved.

Description

Technical Field

[0001] The present invention relates to the field of battery replacement technology, and in particular to a battery replacement method and a battery replacement station control system that are adaptive to different vehicle types. Background Art

[0002] With the rapid increase in the number of new energy vehicles, it is difficult to meet the huge demand for energy replenishment by charging alone. In addition, the charging method has bottlenecks such as long energy replenishment time and inflexibility, which has been criticized by new energy vehicle owners. In this context, the battery swap model came into being and became an important way to shorten the energy replenishment time of new energy vehicles.

[0003] The charging and swapping station equipment consists of a vehicle centering mechanism, a battery swapping rotating platform, a vehicle lifting mechanism, an unlocking and unlocking module, a stacker, a battery pack charging compartment, etc. The battery swapping process is completed by the cooperation of these parts, but the size of the vehicle is different, and the front and rear wheel tracks are also different. When the RGV car goes under the vehicle to swap the battery, the body positioning is inaccurate, which will lead to the failure of the battery swapping, affecting the stability and efficiency of the battery swapping station. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a battery replacement method and a battery replacement station control system that are adaptive to different vehicle models.

[0005] The purpose of the present invention is achieved through the following technical solutions: A battery replacement method that is adaptive to different vehicle models includes the following steps: S1. Obtain a group of sample images of various types of vehicles, and extract a sample area graphic of each sample image; S2. Draw a circle with the largest diameter in the sample area graph, determine the center of the circle, drive the centering components on both sides to move toward or away from each other by the driving component, and drive the centering components on the same side to move toward or away from each other by the servo component, determine the intersection point formed by the intersection of the diagonals of the two centering components, and obtain the positional relationship between the intersection point and the center of the circle; S3, constructing a TensorFlow framework, taking the sample images as training sets, extracting the center of the circle in the training set as a feature vector, and training to obtain a recognition model; S4. When the vehicle enters the battery swap station, the recognition model is used to collect images of the vehicle, and the regional graphics in the collected image are extracted. The largest circle is drawn in the regional graphics, and the center of the circle is determined. The driving component and the servo component drive the centering components to move toward or away from each other until the intersection formed by the intersection of the diagonals of the two centering components reaches a predetermined position relationship with the center of the circle; S5. The robot or AGV starts to exchange the battery pack on the battery rack with the battery pack on the vehicle.

[0006] Preferably, before extracting the sample area graphics of each of the sample images, the sample images need to be preprocessed, and the preprocessing includes unifying the background of the sample images, unifying the pixels of the sample images, and unifying the size of the sample images.

[0007] Preferably, the sample area graphic at least includes the front of the vehicle, the body of the vehicle, and the cargo area.

[0008] Preferably, the centering component at least includes a base and a sliding plate slidably arranged thereon, and a symmetrically arranged rotating rod is pivotally arranged on the sliding plate, and the rotating rod cooperates to form a V shape.

[0009] Preferably, the driving assembly at least includes a driving plate fixedly mounted on the sliding plate, a pushing cylinder is fixedly mounted on the driving plate, a bearing plate is fixedly mounted on the cylinder shaft of the pushing cylinder, and the rotating rod is mounted on the bearing plate.

[0010] Preferably, the servo assembly at least includes a servo motor arranged between the bases, a driving bevel gear is fixedly provided on the motor shaft of the servo motor, a transmission shaft is also provided between the bases, a driven bevel gear is fixedly provided at one end of the transmission shaft, the driven bevel gear is meshed with the driving bevel gear, a driving gear is fixedly provided at the other end of the transmission shaft, and a driving rack meshed with the driving gear is provided on the sliding plate.

[0011] Preferably, in step S4, "capturing images of the vehicle" specifically includes: taking photos of the upper surface and side surfaces of the vehicle at multiple angles by a CCD camera to obtain corresponding images.

[0012] A battery swap station control system includes a memory, a processor, and a battery swap command control system stored in the memory and executable on the processor. When the battery swap command control system executes battery swapping, it implements the battery swapping method that is adaptive to different vehicle models as described above.

[0013] The beneficial effects of the present invention are mainly reflected in: The design is exquisite. Since each vehicle model is different, the position and size in the sample image are also different, so the sample area graphics are also different. A circle with the largest diameter is drawn in the sample area graphic to determine the center of the circle. At this time, the wheel hub of the vehicle in the sample image is located on the centering component, and the intersection formed by the intersection of the diagonals of the two centering components is used to obtain the positional relationship between the intersection and the center of the circle. When the vehicle enters the battery swap station, the CCD camera captures the image of the vehicle. After the acquisition, the area graphic in the image is extracted, and the largest circle is drawn in the area graphic to determine the center of the circle. The drive component and the servo component drive the centering component to move toward or away from each other until the intersection formed by the intersection of the diagonals of the two centering components reaches a predetermined positional relationship with the center of the circle, thereby achieving precise positioning of the vehicle position for different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The technical solution of the present invention is further described below in conjunction with the accompanying drawings: Figure 1 : Schematic diagram of a preferred embodiment of the present invention; Figure 2 : A three-dimensional diagram of a centering assembly, a driving assembly and a servo assembly in a preferred embodiment of the present invention; Figure 3 : A top view of the centering assembly, drive assembly and servo assembly in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0015] The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments are not limited to the present invention, and any structural, methodological, or functional changes made by a person skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0016] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0017] like Figures 1 to 3 As shown, the present invention discloses a battery replacement method that is adaptive to different vehicle models, comprising the following steps: S1. Obtain a group of sample images of various types of vehicles, and extract a sample area graphic of each sample image.

[0018] In the above, before extracting the sample area graphics of each sample image, the sample image needs to be preprocessed, and the preprocessing includes unifying the background of the sample image, unifying the pixels of the sample image, and unifying the size of the sample image, so as to ensure the uniformity of the pixels, size and background of each sample image before extraction, thereby ensuring the correctness of the extracted area graphics. Due to different vehicle models, such as light trucks, heavy trucks, SUVs, sedans, etc., corresponding sample area graphics can be extracted respectively, and the sample area graphics at least include the front of the vehicle, the body, and the cargo area.

[0019] S2. Draw a circle with the largest diameter in the sample area graph and determine the center of the circle. At this time, the centering components 1 located on both sides are driven by the driving component 2 to move toward or away from each other, and the centering components 1 located on the same side are driven by the servo component 3 to move toward or away from each other, and the intersection point formed by the intersection of the diagonals of the two centering components 1 is determined to obtain the positional relationship between the intersection point and the center of the circle.

[0020] S3. Build a TensorFlow framework, use the sample images as training sets, extract the center of the circle in the training set as a feature vector, and train to obtain a recognition model; in the above, the feature vector is a vector that contains parameters such as the position of the center of the circle.

[0021] S4. When the vehicle enters the battery swap station, the recognition model is used to capture images of the vehicle, extract the regional graphics in the captured image, draw the largest circle in the regional graphics, determine the center of the circle, and the drive component 2 and the servo component 3 drive the centering component 1 to move toward or away from each other until the intersection formed by the intersection of the diagonals of the two centering components 1 reaches a positional relationship with the center of the circle. In step S4, "capturing images of the vehicle" specifically means: taking multi-angle photos of the upper surface and side of the vehicle through a CCD camera to obtain corresponding images.

[0022] S5, the manipulator or AGV is started to exchange the battery pack on the battery rack with the battery pack on the vehicle. Since the technologies of manipulator grasping and AGV battery replacement are both existing technologies, the present invention will not elaborate on them here, and they all belong to the protection scope of the present invention.

[0023] In the above, since each vehicle model is different, the position and size in the sample image are also different, so the sample area graphics are also different. A circle with the largest diameter is drawn in the sample area graphic to determine the center of the circle. At this time, the wheel hub of the vehicle in the sample image is located on the centering component 1, and the intersection formed by the intersection of the diagonals of the two centering components 1 is obtained to obtain the positional relationship between the intersection and the center of the circle.

[0024] When a vehicle enters the battery swap station, the CCD camera captures an image of the vehicle, extracts the regional graphics in the image, draws the largest circle within the regional graphics, and determines the center of the circle. The drive component 2 and the servo component 3 drive the centering component 1 to move toward or away from each other until the intersection formed by the intersection of the diagonals of the two centering components 1 reaches a predetermined positional relationship with the center of the circle, thereby achieving precise positioning of vehicles of different models.

[0025] In addition, in the present invention, the centering assembly 1 at least includes a base 11 and a sliding plate 12 slidably disposed thereon, and a symmetrically disposed rotating rod 13 is pivotally disposed on the sliding plate 12, and the rotating rod 13 cooperates to form a V shape. The driving assembly 2 at least includes a driving plate 21 fixedly disposed on the sliding plate 12, and a push cylinder 22 is fixedly disposed on the driving plate 21, and a bearing plate is fixedly disposed on the cylinder shaft of the pushing cylinder 22, and the rotating rod 13 is disposed on the bearing plate.

[0026] The servo assembly 3 at least includes a servo motor 31 arranged between the bases 1, and a driving bevel gear is fixedly provided on the motor shaft of the servo motor 31. A transmission shaft is also provided between the bases 1, and a driven bevel gear is fixedly provided at one end of the transmission shaft, and the driven bevel gear is meshed with the driving bevel gear. A driving gear 32 is fixedly provided at the other end of the transmission shaft, and a driving rack meshed with the driving gear 32 is provided on the sliding plate 12.

[0027] The following is a brief description of the working process of the above structure: When large vehicles such as heavy trucks enter the battery swap station, the pushing cylinder 22 is started, and the cylinder shaft of the pushing cylinder 22 extends to drive the supporting plate and the rotating rod 13 arranged on the supporting plate to move to the specified position. At this time, the servo motor 31 rotates forward, and drives the sliding plate to move to the specified position through the active bevel gear, the driven bevel gear, the transmission shaft, the driving gear 32 and the driving rack. At this time, the intersection formed by the intersection of the diagonals of the two centering components 1 reaches a predetermined position relationship with the center of the circle.

[0028] When a small vehicle such as a passenger car enters the battery swap station, the push cylinder 22 is started, and the cylinder shaft of the push cylinder 22 retracts, driving the supporting plate and the rotating rod 13 arranged on the supporting plate to move to the specified position. At this time, the servo motor 31 reverses, and drives the sliding plate to move to the specified position through the active bevel gear, the driven bevel gear, the transmission shaft, the driving gear 32 and the driving rack. At this time, the intersection formed by the intersection of the diagonals of the two centering components 1 reaches a predetermined position relationship with the center of the circle.

[0029] The present invention also discloses a battery swap station control system, including a memory, a processor, and a battery swap command control system stored in the memory and executable on the processor. When the battery swap command control system executes battery swapping, it implements the battery swapping method that is adaptive to different vehicle models as described above.

[0030] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0031] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A battery replacement method that is adaptive to different vehicle models, characterized in that: The steps include: S1. Obtain a group of sample images of various types of vehicles, and extract a sample area graphic of each sample image; S2, drawing a circle with the largest diameter in the sample area graph, determining the center of the circle, driving the centering components (1) located on both sides by the driving component (2) to move toward or away from each other, and driving the centering components (1) located on the same side by the servo component (3) to move toward or away from each other, determining the intersection point formed by the intersection of the diagonals of the two centering components (1), and obtaining the positional relationship between the intersection point and the center of the circle; S3, constructing a TensorFlow framework, taking the sample images as training sets, extracting the center of the circle in the training set as a feature vector, and training to obtain a recognition model; S4. When the vehicle enters the battery swap station, the recognition model is used to collect images of the vehicle, a regional graphic in the collected image is extracted, and a largest circle is drawn in the regional graphic to determine the center of the circle. The drive component (2) and the servo component (3) drive the centering component (1) to move toward or away from each other until the intersection formed by the intersection of the diagonals of the two centering components (1) and the center of the circle reaches a predetermined position relationship; S5. The robot or AGV starts to exchange the battery pack on the battery rack with the battery pack on the vehicle.

2. The method for adaptively replacing batteries for different vehicle types according to claim 1 is characterized in that: Before extracting the sample area graphics of each sample image, the sample image needs to be preprocessed, and the preprocessing includes unifying the background of the sample image, unifying the pixels of the sample image, and unifying the size of the sample image.

3. The method for adaptively replacing batteries for different vehicle types according to claim 1 is characterized in that: The sample area graph at least includes the front of the vehicle, the vehicle body, and the cargo area.

4. The method for adaptively replacing batteries for different vehicle types according to claim 1 is characterized in that: The centering component (1) comprises at least a base (11) and a sliding plate (12) slidably arranged thereon, wherein a pivot of the sliding plate (12) is provided with symmetrically arranged rotating rods (13), and the rotating rods (13) cooperate to form a V shape.

5. The method for adaptively replacing batteries for different vehicle types according to claim 4 is characterized in that: The driving assembly (2) comprises at least a driving plate (21) fixedly mounted on the sliding plate (12), a pushing cylinder (22) fixedly mounted on the driving plate (21), a bearing plate fixedly mounted on the cylinder shaft of the pushing cylinder (22), and the rotating rod (13) mounted on the bearing plate.

6. The method for adaptively replacing batteries for different vehicle types according to claim 5 is characterized in that: The servo assembly (3) at least comprises a servo motor (31) arranged between the bases (1), a driving bevel gear being fixedly arranged on the motor shaft of the servo motor (31), a transmission shaft (33) being further arranged between the bases (1), a driven bevel gear being fixedly arranged at one end of the transmission shaft, the driven bevel gear being meshed with the driving bevel gear, a driving gear (32) being fixedly arranged at the other end of the transmission shaft, and a driving rack being meshed with the driving gear (32) being arranged on the sliding plate (12).

7. The method for adaptively replacing batteries for different vehicle types according to claim 1 is characterized in that: In step S4, “capturing images of the vehicle” specifically includes: taking photos of the upper surface and the side of the vehicle at multiple angles by a CCD camera to obtain corresponding images.

8. The control system of the battery swap station is characterized by: It includes a memory, a processor, and a battery replacement command control system stored in the memory and executable on the processor. When the battery replacement command control system executes battery replacement, it implements the battery replacement method adapted to different vehicle models as described in any one of claims 1-7.

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